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Research and Simulation of Fuzzy Adaptive PID control for Upper Limb Exoskeleton Robot 1

引用

3rd international conference on Neural Computing for Advanced Applications, NCAA 2022

作者： Yu, Shiwei Lu, Shouyin Jiang, Zhe Li, Zhipeng Zhang, Qiang School of Information and Electrical Engineering Shandong Jianzhu University Shandong Jinan250101 China

ISBN: (数字)9789811961359

ISBN: (纸本)9789811961342

In order to promote the rehabilitation of upper limb function of patients suffering from stroke, a homogeneous and homogeneous master-slave upper limb exoskeleton rehabilitation robot was designed based on the principle of human biology, and a fuzzy adaptive PID control method strategy based on the joint position was proposed for the problems such as the robot slave arm precisely following the motion trajectory of the master arm;secondly, the kinematic model of the robot slave arm was established by using the improved D-H method, and a workspace simulation based on the Matlab robot toolbox was performed. The robot toolbox of Matlab is used for workspace simulation. And Simulink/Simscape Multibody was used to realize the simulation experiment of exoskeleton motion control to verify the effect of slave arm trajectory following using fuzzy PID control method. Experiments show that under the same conditions, the proposed control algorithm can track the main arm motion curve more quickly and accurately than the traditional PID algorithm, and the trajectory is smooth and stable without obvious jitter, and the passive rehabilitation training effect is good. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Kinematics

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Dark vision Assistive Application for Deaf-Blind People

Dark Vision Assistive Application for Deaf-Blind People

引用

Computing and Information Technology (ICCIT-1441), 2020 international conference on

作者： Prithi Samuel Rajesh Kumar Dhanaraj Balamurugan Balusamy Narmatha C Department of Computational Intelligence SRM Institute of Science and Technology Chennai India Symbiosis Institute of Computer Studies and Research (SICSR) Symbiosis International (Deemed University) Pune India Associate Dean- Students Shiv Nadar University Noida India Industrial Innovation & Robotics Center Faculty of Computers and Information Technology University of Tabuk Tabuk City Kingdom of Saudi Arabia

For visually impaired, deaf-blind people, both communication and navigation are difficult activities and indoor navigation is becoming increasingly harder for them. It is even more difficult for deaf-blind people than it is for non-visually impaired people. People with visual impairments or deaf- blindness frequently rely on external support systems to make judgments, such as trained canines, humans, or specialized equipment. As a result, deaf-blind people are in desperate need of an assistive application that allows blind people to navigate and communicate freely without relying on others. The goal of the application is to create a more adaptable and cost-effective system for deaf-blind and visually impaired people. Through both outdoor and interior applications, as well as walking in even unfamiliar locations without relying on others.

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information control system for the production of mineral fertilizers in the granulator with a fluidized bed 3

information control system for the production of mineral fer...

引用

3rd IEEE international conference on Advanced Trends in Information Theory, ATIT 2021

作者： Korniyenko, Bogdan Ladieva, Lesya Galata, Liliya Nesteruk, Andrii Matviichuk-Yudina, Olena Department of information Systems and Technologies National Technical University of Ukraine "igor Sikorsky Kyiv Polytechnic institute" Kyiv Ukraine Department of Hardware and Software Automation National Technical University of Ukraine "igor Sikorsky Kyiv Polytechnic institute" Kyiv Ukraine Department of Computerized information Security Systems National Aviation University Kyiv Ukraine Department of Computer Multimedia Technologies National Aviation University Kyiv Ukraine

ISBN: (纸本)9781665438452

A temperature control information system has been developed to ensure the production of high-quality granules with low moisture content. The study of the granulation and dehydration process, the main factors influencing the production of quality fertilizers, namely: temperature of heating air, temperature of granules, moisture content of granules, viscosity of the binder and its concentration. Based on the mathematical model, the transfer function of the granulator was obtained with the help of the Matlab software package, information control systems based on Pi and PiD controllers were developed, which should output and maintain the temperature of the granules at a given level. Their comparison is made to determine the system that better copes with the task. it is recommended to use a information control system with a PiD regulator in the production, because it allows to reduce the consumption of gas used during the dehydration process, due to the faster achievement of the set temperature of the granules. © 2021 iEEE.

关键词： Quality control

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Circuit Covering Graph Based Algorithm for Solving the Traveling Salesman Problem

Circuit Covering Graph Based Algorithm for Solving the Trave...

引用

Problems of Logistics, Management and Operation in the East-West Transport Corridor (PLMO), international conference on

作者： Fidan Nuriyeva Urfat Nuriyev Department of Computer Science Dokuz Eylul University Izmir Türkiye Institute of Control Systems The Ministry of Science and Education of the Republic of Azerbaijan Baku Azerbaijan Department of Mathematics Ege University Izmir Türkiye

ISBN: (数字)9798350353099

ISBN: (纸本)9798350353105

This study presents an algorithm for solving the Traveling Salesman Problem (TSP) based on Circuit Covering Graph and Insertion Heuristic methods. This algorithm offers an efficient approach to constructing a tour for the TSP, Experimental results demonstrate the effectiveness of the algorithm in solving TSP instances with large numbers of cities.

关键词： Heuristic algorithms Urban areas Traveling salesman problems Benchmark testing Logistics

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Smart SMPS Based Grid to Support Renewable Energy Systems 3

Smart SMPS Based Grid to Support Renewable Energy Systems

引用

3rd international conference on Advances in Computing, Communication control and Networking, ICAC3N 2021

作者： Bale, Ajay Sudhir Vinay, N. Pradeep, S. Ghorpade, Naveen Brunda, S. Gupta, Arushi Rohith, T John CMR University School of Engineering and Technology Department of ECE Bengaluru562149 India Reva University School of Computer Science and Engineering Bengaluru560064 India

ISBN: (纸本)9781665438117

This paper overviews the energy management based SMPS that is used in application like Mobile Towers for control and distribution of telecommunications operators, remotely monitor the renewable energy resource with the help of smart grid that having the ability to communicate to web, that includes a range of web Based services as well as a variety Embedded devices with internet connectivity and the methods used to analyses period domain frequency properties using a Line Impedance Stabilization Network (LISN) linked to two SMPS. The smart grids are playing the major role in the management of energy resources providing significant energy saving, the power line communication systems occupy the major electric role in the smart grids, the impact of the noise curve on the power line systems are also noticed. The major objective of this work is to bring out the advantages and methods of SMPS, smart grid implementation in the field of renewable energy resources. © 2021 IEEE.

关键词： Time domain analysis

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Optimization control of PMSM Based on Fuzzy control and Inverter Dead-Time Compensation

Optimization Control of PMSM Based on Fuzzy Control and Inve...

引用

Electronic Information Engineering and computer Science (EIECS), 2021 international conference on

作者： Qinghui Wu Yongqi Cai Ruilong Zhang Faculty of Electrical and Control Engineering Liaoning Technical University Huludao China

At present, permanent magnet synchronous motors have many advantages such as high efficiency, large starting torque, safety and maintenance free, and are widely used in the medical industry, electric vehicles, and other industries. However, they are not widely used in industrial fields such as air-cooling islands and cement industry. Because permanent magnet synchronous motors have good stability during high-speed operation, they often experience current distortion due to the dead zone of the inverter during low-speed operation. If the controller is not effective, the speed will also fluctuate significantly, affecting the stability of the system. To address these issues, a PMSM model was built using MATLAB software and Simulink environment, and simulation experiments were conducted. A method combining fuzzy PI control and dead zone compensation was proposed. When compensating for dead time, it is necessary to determine the zero-crossing point of the current, and then perform hierarchical linear compensation for the voltage approaching zero. The closer the zero point is, the smaller the compensation is, effectively solving the problem of voltage error compensation. In addition, it is proposed to use fuzzy PI control instead of traditional control to compare and analyze the two controllers. The experimental results show that fuzzy control has a short speed adjustment time, can almost eliminate overshoot, and high reliability. The dead zone compensation method effectively suppresses low-frequency harmonics of the current and improves the system's ability to operate stably at low speeds.

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Teleoperation in the Age of Mixed Reality: VR, AR, and ROS Integration for Human-Robot Direct Interaction 4

Teleoperation in the Age of Mixed Reality: VR, AR, and ROS I...

引用

4th international conference on Electronics and Sustainable Communication Systems, ICESC 2023

作者： Nandhini, P. Chellammal, P. Jaslin, J.S. Harthy Ruby Priya, S. Uma, M. Kaviyaraj, R. Sri Shanmugha College of Engineering and Technology Department of Computer Science and Engineering Sankari India J.J College of Engineering and Technology Department of Computer Science and Engineering Trichy India Srm Institute of Science and Technology Department of Computational Intelligence Kattankulathur India

ISBN: (纸本)9798350300093

Robotic systems that can be operated remotely are becoming more and more common in a variety of industries, including construction, disaster relief, space exploration, and industrial applications. Teleoperation, however, necessitates skilled operators who can handle sophisticated data processing and programming. This research introduces a unique teleoperation method that makes use of Virtual Reality (VR) and the Robot Operating System (ROS) to overcome this problem. By creating a 3D representation of the robot's workspace in Unity and connecting it to the actual robot with ROS, this technique optimizes control. Programming is not necessary because the robot's vision serves as the foundation for the user interface. Through ROS integration, a target point is established in Unity and sent to the robot as the end effector position. By simply setting up a new environment, reducing the requirement for knowledgeable operators, and improving situational awareness, this method may be used to any sort of robot. For even greater situational awareness, this technique may also be used with augmented reality (AR). AR can give the operator real-time information about the robot's surroundings by superimposing digital information over the physical world. This can be achieved by including AR markers in the physical surroundings that the VR system can detect. In the operator's field of view, the system can then superimpose information such as sensor data or robot status onto the real-world environment. © 2023 IEEE.

关键词： Augmented reality

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Deep active inference in control tasks 3

Deep active inference in control tasks

引用

3rd international conference on Electrical, Communication and computer Engineering, ICECCE 2021

作者： Zelenov, Aleksey Krylov, Vladimir National Research University Higher School of Economics Department of Applied Mathematics and Informatics Nizhny Novgorod Russia

ISBN: (纸本)9781665438971

Modern robotic control tasks are usually solved by applying reinforcement learning techniques. In this paper we show that deep active inference can be applied for creating agents for large and complex environments and show in OpenAI benchmark that deep active inference approach has comparable or better results than modern reinforcement learning algorithms. Active Inference is a framework based on the Free Energy Principle for action and planning in some environment by minimizing Variational Free Energy. The idea is that the agent wants to remain alive and reduce uncertainty, which means that it should avoid surprising or unpreferred states and observations. Active inference proposed as a unifying brain theory but it's implementations unable to handle complex environments. Deep Active Inference algorithm uses deep neural networks to approximate key densities to scale Active Inference to much larger and complex environments. © 2021 IEEE.

关键词： Free energy

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Large Class Arabic Sign Language Recognition 14

Large Class Arabic Sign Language Recognition

引用

14th international conference on Knowledge Engineering and Ontology Development, KEOD 2022 as part of 14th international Joint conference on Knowledge Discovery, Knowledge Engineering and Knowledge Management, IC3K 2022

作者： Saadaoui, Zakia Saidi, Rakia Jarray, Fethi LIMTIC Laboratory UTM University Tunis Tunisia Higher Institute of Computer Science of Medenine Gabes University Medenine Tunisia

ISBN: (纸本)9789897586149

Sign languages are as rich, complex and creative as spoken languages, and consist of hand movements, facial expressions and body language. Today, sign language is the language most commonly used by many deaf people and is also learned by hearing people who wish to communicate with the deaf community. Arabic sign language has been the subject of research activities to recognize signs and hand gestures using a deep learning model. A vision-based system by applying a deep neural network for letters and digits recognition based on Arabic hand signs is proposed in this paper. Copyright © 2022 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Gesture recognition

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Driving Like Humans: Leveraging vision Large Language Models for Road Anomaly Detection

Driving Like Humans: Leveraging Vision Large Language Models...

引用

Emerging Trends in Electrical, control, and Telecommunication Engineering (ETECTE), international conference on

作者： Sidra Shafiq Hassan Moatasam Awan Abdullah Aman Khan Waqas Amin University of Electronic Science and Technology of China Chengdu China University of Management & Technology Lahore Punjab Pakistan Sichuan Artificial Intelligence Research Institute (Yibin) Yibin China School of Information Engineering Southwest University of Science and Technology Mianyang China

ISBN: (数字)9798331504861

ISBN: (纸本)9798331504878

Ensuring the safety and reliability of autonomous driving systems requires accurate detection and response to road anomalies. Traditional object detection methods have advanced in identifying predefined objects, such as vehicles, pedestrians, etc., but often fail with unexpected or unknown obstacles. This paper introduces a novel approach using vision Large Language Models (VLLMs) to enhance the adaptability of object detection through natural language interactions. By integrating visual data with human-like text prompts, our proposed approach dynamically adjusts to new and unforeseen obstacles. Through extensive evaluations, we demonstrate that our VLLM-based framework is comparable to the state-of-the-art road anomaly detection models, underscoring the potential of VLLMs in autonomous driving.

关键词： Adaptation models Visualization Roads Large language models Natural languages Object detection Safety Object recognition Autonomous vehicles Anomaly detection

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